CN104571103A - Navigation positioning method for tour inspection robot of transformer substation - Google Patents
Navigation positioning method for tour inspection robot of transformer substation Download PDFInfo
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- CN104571103A CN104571103A CN201410585369.3A CN201410585369A CN104571103A CN 104571103 A CN104571103 A CN 104571103A CN 201410585369 A CN201410585369 A CN 201410585369A CN 104571103 A CN104571103 A CN 104571103A
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- range light
- robot
- tracking range
- thermal infrared
- infrared imager
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Abstract
The invention discloses a navigation positioning method for a tour inspection robot of a transformer substation. The imaging positions of tracking navigation lamps in an infrared thermal imager are detected, so that the moving direction of a trolley is determined, and the aim of tracking is fulfilled; in order to position the robot in a moving process, a cradle head is horizontally rotated until an image of a positioning navigation lamp in the infrared thermal imager is in the center, the distance to the next fixed point is calculated according to the horizontal rotating angle of the cradle head and the moving distance of the trolley is calculated according to the sizes of images of the tracking navigation lamps in the infrared thermal imager, so that the aim of positioning is fulfilled.
Description
Technical field
The present invention relates generally to a kind of Intelligent Mobile Robot navigation locating method.
Background technology
Power industry was for the maintenance of outside transformer substation equipment in the past, was generally to adopt manual inspection operating type.Under the bad weather condition such as high pressure, UHV (ultra-high voltage) and rain, snow, mist, not only endanger the inherently safe of patrol officer, certain hidden danger is also brought to electric power netting safe running simultaneously, be often because equipment produced problem cannot be understood in time, and lose the chance of overhauling in advance.Along with the progress of science and technology, substation inspection automaticity is greatly improved, robot is undertaken patrolling and examining being widely used by thermal infrared imager, problem is that robot adopts how to navigate and patrols and examines effect by directly having influence on, at present, the air navigation aid that Intelligent Mobile Robot adopts has magnetic tracks to navigate, inertial navigation, GPS navigation and vision guided navigation, magnetic tracks navigation finds in actual use, although it is simple and reliable that it has guiding principle, navigation and positioning accuracy is high and reproducible, the advantages such as antijamming capability is strong, but this navigate mode magnetic tracks needs artificial laying, floor treatment workload is large, path very flexible, simultaneously magnetic tracks navigate mode can not the exact position residing in transformer station of Real-time Feedback current robot, be unfavorable for operation, inertial navigation needs to install wireless signal transceiver in the work environment, and stability is relatively poor, the current degree of accuracy of GPS navigation is lower, and its error, within 2-5 rice, can not adapt to the requirement of substation safety, the quantity of information relative abundance that vision guided navigation obtains because of it, more and more receive publicity in recent years, but robot carries out in outdoor patrolling and examining work, unavoidably to be subject to the impact of intensity of illumination change and surface state, this just creates very large impact to the accuracy of robot visual guidance, vision guided navigation will install three-dimensional camera in the environment residing for robot simultaneously, and cost is very high.Therefore it is relatively high that current air navigation aid implements all more complicated, cost, and stability and be not accurately still very desirable.
Summary of the invention
The object of the present invention is to provide and a kind ofly implement simple, good stability, the Intelligent Mobile Robot navigation locating method that lower-cost, precision is higher.
This Intelligent Mobile Robot navigation locating method provided by the invention, comprises the following steps:
1) track is patrolled and examined according to each device location to be checked setting robot;
2) change to be on the extended line of track two ends tracking range light is installed respectively patrolling and examining trajectory direction, this tracking range light and patrol and examine between track and have a setpoint distance, according to the position of patrolling and examining of each equipment to be checked, fixed point is set respectively patrolling and examining on track, corresponding each fixed point and install location navigation lamp respectively with fixed point position in a distance;
3) if move on straight path, detect the image space of tracking range light on thermal infrared imager, image space is at center, and robot keeps straight on, image space on the left side, and robot moves to left-hand rotation, and on the right, robot moves to right-hand rotation to image space; If move in serpentine track, control The Cloud Terrace horizontal rotation angle and coordinate robot linear-movable manner to turn.
4) the distance D of robot and next tracking range light is learnt by tracking range light imaging size on thermal infrared imager
0:
Wherein R is range light real radius, R
0for range light imaging radius, P tests the distance proportion coefficient that predicts, and this FACTOR P is by repeatedly actual measurement D
0, R, R
0the mean value calculated;
The distance L that robot fixes a point to next:
The wherein d vertical line distance that is location navigation lamp and patrols and examines between track, β is that The Cloud Terrace horizontally rotates to the imaging of location navigation lamp in thermal infrared imager and is positioned at the angle of center.
Described tracking range light and location navigation lamp adopt spheroidal LED high temperature lamps.
In order to the particular location of clearly each range light, when during described tracking range light work, the temperature on surface works from each location navigation lamp, the temperature on surface is different, when working between each tracking range light, the temperature on surface is identical, when working between each location navigation lamp, the temperature on surface is different, to represent diverse location.
The temperature on surface when working for convenience of regulating range light, tracking range light and location navigation lamp all work under rated voltage, the resistance of series connection different value.
The present invention utilizes light to follow the trail of and calibrate carry out navigator fix with infrared image, by detection tracking range light in the position of thermal infrared imager imaging, determines the moving direction of dolly, realizes the object of tracking; Center is positioned to location navigation lamp in the imaging of thermal infrared imager by horizontally rotating The Cloud Terrace, according to next fixed point distance of angle calculation that The Cloud Terrace horizontally rotates in moving process; And dolly displacement calculates according to the imaging size of tracking range light at thermal infrared imager, realize location object.Therefore the inventive method can be robot navigation location automatically and accurately, makes robot accurately arrive fixed position and carries out patrolling and examining operation.The present invention compares with other prior aries, and have not by electromagnetic interference influence, and navigation and positioning accuracy is high, error is within 0.1 meter; Cost is low, without the need to other sensing equipments additional; Construction is simple, and only need install several range light can tracking navigator fix.
Accompanying drawing explanation
Fig. 1 is that distribution plan installed by embodiment of the present invention one trajectory planning and range light.
Fig. 2 is imaging size in thermal infrared imager and robot distance analysis figure.
Fig. 3 is robot localization geometric analysis figure of the present invention.
Fig. 4 is that distribution plan installed by embodiment of the present invention two trajectory planning and range light.
In figure: 1. tracking range light; 2. location navigation lamp; 3. tracking track; 4. robot starting point
Embodiment
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
Embodiment one: equipment to be checked has four groups in the present embodiment as can be seen from Figure 1, it is rectangle that the position according to them determines that robot patrols and examines track, as shown in phantom in FIG..Next need tracking range light and location navigation lamp are installed, first installation site is determined, the each limit of track of patrolling and examining of rectangle is extended, extending length can be set as d, when d value ensures that trace end is patrolled and examined in robot arrival, the imaging of tracking range light in thermal infrared imager takies 2/3 of image for good, and this position is exactly the installation site of tracking range light 1, has installed eight tracking range lights in the present embodiment.Patrol and examine the position of corresponding each equipment to be checked on track for fixed point, there are four fixed points in the present embodiment, a location navigation lamp 2 will be installed in the side of each fixed point, and installation site can be set to d equally from fixed point distance, and robot only stops at fixed point place moving and carrying out patrolling and examining operation.
Tracking range light 1 and location navigation lamp 2 all adopt spheroidal LED high temperature lamps, and tracking range light 1 under nominal power working surface temperature is all T
0, when location navigation lamp 2 works, surface temperature is respectively T
1, T
2, T
3... T
n.For preventing surrounding environment influence, temperature and the ambient temperature of tracking range light 1 and location navigation lamp 2 have notable difference, the temperature difference is large as far as possible between tracking range light 1 and location navigation lamp 2 and between each location navigation lamp 2, the position that different temperature representative is different.
Fig. 2 reflects the pass of range light between the imaging size and robot distance of thermal infrared imager:
Wherein D
0for the distance between robot to range light, R is the real radius of range light, R
0for the imaging radius of range light in thermal infrared imager, P tests the distance proportion coefficient predicted, and because different camera parameters is different, can pass through repeatedly actual measurement D
0, R, R
0calculate each D
0r
0the value of/R gained, then averages and obtains testing the distance proportion FACTOR P predicted.
As shown in Figure 3, the distance L between the fixed point on robot track corresponding to location navigation lamp and The Cloud Terrace horizontal rotation angle
between relation:
Wherein d is the vertical line distance between location navigation lamp and track, and β is the angle that The Cloud Terrace horizontally rotates when being positioned at thermal infrared imager imaging center to location navigation lamp, and L is the distance between the robot fixed point on track corresponding to range light.
In the present embodiment, have four straight paths, track and track interface point are right-angled bend, therefore only comprise linear-movable manner.In robot moving process, if the imaging of tracking range light in thermal infrared imager is positioned at center, robot straight ahead; If image space on the left side, robot moves to left-hand rotation, if image space on the right, robot moves to right-hand rotation.
Use during the inventive method concrete operations and comprise the following steps:
1) robot is positioned at starting point, reset The Cloud Terrace to 0 °, makes thermal infrared imager view directions consistent with dolly direction;
2) adjust dolly attitude, make the imaging of tracking range light in thermal infrared imager be positioned at picture centre;
3) horizontally rotate The Cloud Terrace, make location navigation lamp be positioned at picture centre in the imaging of thermal infrared imager, calculate according to the angle beta that The Cloud Terrace rotates the distance L fixed a point from the next one:
4) dolly moves along patrolling and examining track, the track number of record move;
5) robot tracking is kept to advance by linear-movable manner;
6) according to tracking range light imaging radius R, the distance D of the next tracking range light of the little spacing of Real-Time Monitoring
0:
Distance D between known each straight path one end and other end tracking range light
1, D
2, D
3, D
4, judge whether dolly arrives certain fixed point
D
0＝(D
1-L)or(D
2-L)、(D
3-L)、(D
4-L)
Or arrival direction is by change place
D
0＝d；
7) when arriving described fixed position, robot starts to patrol and examine operation, repetition step 2,3,4,5,6,7,8 after completing;
8) when change place of dolly arrival direction, robot car, to right rotation, finds next tracking range light, repeats step 2,3,4,5,6,7,8, moves, dolly return to origin until complete all tracks.
Embodiment two: when there is serpentine track in path, the installation method of tracking range light 1 and location navigation lamp 2 is as Fig. 4, article two, straight path carries out transition by serpentine track, according to marking robot starting point 4 and moving direction in figure, on the rear end extended line of every bar straight path, distance is that the position of d is installed a tracking range light 1, distance d and guaranteed that tracking range light 1 not to be on robot motion track and to make it occupy the imaging area of more than 2/3 in the imaging of thermal infrared imager as far as possible.After equipment determination fixed position to be checked and quantity, straight path side distance d installed by location navigation lamp
0place, as shown in Figure 4, preserves the distance D between each fixed point and front tracking range light
1, D
2, D
3, D
4.
In the present embodiment, owing to being only provided with tracking range light 1 in straight path one end, therefore robot moving direction is one-way circulation.
In the present embodiment, tracking range light 1 and location navigation lamp 2 all adopt spheroidal LED high temperature lamps, and tracking range light 1 under nominal power working surface temperature is all T
0, when location navigation lamp 2 works, surface temperature is T
1, T
2, T
3, T
4, represent fixed point 1,2,3,4 respectively.
Robot, in moving process, detects the distance with tracking range light 1 in real time:
Judge whether to arrive at fixed position or direction by change place.
In the present embodiment, motion track comprises straight path and serpentine track.On straight path, The Cloud Terrace is reset to 0 °, and robot moves and keeps tracking range light 1 to be positioned at the imaging center of thermal infrared imager, if to the left, robot adjusts left, if to the right, then adjusts to the right.By the adjustment attitude of the differential control robot of left and right wheels, changing differential ratio can control sensitivity.When robot is about to arrive serpentine track, The Cloud Terrace horizontally rotates finds next tracking range light 1, and the tracking range light 1 on another straight path rear end extended line be namely connected with serpentine track, is located at thermal infrared imager imaging center.If bend to right, then The Cloud Terrace turns round an angle [alpha] left, the now imaging of tracking range light 1 in thermal infrared imager is to the right, robot advances, when tracking range light 1 is positioned at thermal infrared imager imaging center again, The Cloud Terrace continues angle of revolution α, goes round and begins again, until The Cloud Terrace level angle is 0 °, when tracking range light 1 is positioned at thermal infrared imager imaging center, robot completes turning.Wherein angle [alpha] is regulated variable, and control the radius of turn of robot, α is larger, and radius of turn is less.
The concrete operation step of present embodiment is as follows:
1) robot is positioned at starting point, reset The Cloud Terrace to 0 °, makes thermal infrared imager view directions consistent with dolly direction;
2) adjust dolly attitude, make the imaging of tracking range light 1 in thermal infrared imager be positioned at picture centre;
3) according to current type of gesture, robot chooses corresponding control mode and moves, the track number of record move;
4) the distance D with tracking range light is detected in real time
0, and judge whether dolly arrives at fixed point
D
0＝D
1orD
2、D
3、D
4
Or arrival direction is by change place
D
0＝d；
5) when arriving described fixed position, robot starts to patrol and examine operation, repetition step 2,3,4,5,6 after completing;
6) when change place of dolly arrival direction, track number adds 1, judging type of gesture, if serpentine track, choosing corresponded manner and moving by searching the data prestored, and repeats step 2,3,4,5,6, moves, dolly return to origin until complete all tracks.
This Intelligent Mobile Robot navigation locating method provided by the invention, mainly based on thermal infrared imager and range light, especially devise the relation of the spacing of range light imaging size and robot, achieve Intelligent Mobile Robot tracking navigator fix fast, accurately.
Claims (5)
1. an Intelligent Mobile Robot navigation locating method, comprises following characteristics:
1) track is patrolled and examined according to each device location to be checked setting robot;
2) change to be on the extended line of track two ends tracking range light is installed respectively patrolling and examining trajectory direction, this tracking range light and patrol and examine between track and have a setpoint distance, according to the position of patrolling and examining of each equipment to be checked, fixed point is set respectively patrolling and examining on track, corresponding each fixed point and install location navigation lamp respectively with fixed point position in a distance;
3) if move on straight path, detect the image space of tracking range light on thermal infrared imager, image space is at center, and robot keeps straight on, image space on the left side, and robot moves to left-hand rotation, and on the right, robot moves to right-hand rotation to image space; If move in serpentine track, control The Cloud Terrace horizontal rotation angle and coordinate robot linear-movable manner to turn;
4) the distance D of robot and next tracking range light is learnt by tracking range light imaging size on thermal infrared imager
0:
In formula, R is range light real radius, R
0for range light imaging radius, P tests the distance proportion coefficient predicted,
This FACTOR P is by repeatedly actual measurement D
0, R, R
0the mean value calculated;
The distance L that robot fixes a point to next:
The vertical line distance that in formula, d is location navigation lamp and patrols and examines between track, β is that The Cloud Terrace horizontally rotates to the imaging of location navigation lamp in thermal infrared imager and is positioned at the angle of center.
2. Intelligent Mobile Robot navigation locating method according to claim 1, is characterized in that described tracking range light and location navigation lamp adopt spheroidal LED high temperature lamps.
3. Intelligent Mobile Robot navigation locating method according to claim 1, when when it is characterized in that described tracking range light works, the temperature on surface works from each location navigation lamp, the temperature on surface is different, when working between each tracking range light, the temperature on surface is identical, when working between each location navigation lamp, the temperature on surface is different, to represent diverse location.
4. Intelligent Mobile Robot navigation locating method according to claim 3, is characterized in that described tracking range light and location navigation lamp all work under rated voltage, the resistance of series connection different value, for the temperature on surface during convenient adjustment range light work.
5., according to the Intelligent Mobile Robot navigation locating method one of claim 1-4 Suo Shu, it is characterized in that comprising the steps:
1) robot is positioned at starting point, reset The Cloud Terrace to 0 °, makes thermal infrared imager view directions consistent with dolly direction;
2) adjust dolly attitude, make the imaging of tracking range light in thermal infrared imager be positioned at picture centre;
3) horizontally rotate The Cloud Terrace, make location navigation lamp be positioned at picture centre in the imaging of thermal infrared imager, calculate according to the angle beta that The Cloud Terrace rotates the distance L fixed a point from the next one:
4) dolly moves along patrolling and examining track, the track number of record move, and judges that track is straight path or turning path;
4.1) on straight path, The Cloud Terrace is reset to 0 °, and thermal infrared imager constantly detects tracking range light, if the imaging of tracking range light in thermal infrared imager is positioned at center, dolly does not change direction and continues mobile; If the imaging of tracking range light in thermal infrared imager is positioned at the left side, controller provides the order that dolly turns left; If the imaging of tracking range light in thermal infrared imager is positioned at limit, the right, controller provides the order that dolly is turned right;
4.2) in serpentine track, The Cloud Terrace horizontally rotates, and makes the tracking range light on track other end extended line be positioned at thermal infrared imager imaging center, when bending to right, The Cloud Terrace level turns round a low-angle left, robot advances according to linear-movable manner, and this Time Controller controls dolly and turns right, after tracking range light is positioned at thermal infrared imager imaging center, The Cloud Terrace continues left-hand rotation equal angular, robot advances, until The Cloud Terrace level angle is 0 °, robot completes right-hand rotation; When turning left, The Cloud Terrace level is to right-hand rotation low-angle, robot advances, after tracking range light is positioned at thermal infrared imager imaging center, The Cloud Terrace continues revolution equal angular, until The Cloud Terrace level angle is 0 °, robot completes left-hand rotation, wherein angle of revolution is regulated variable, for the radius of turn of control;
5) according to tracking range light imaging radius R, the distance D of the next tracking range light of little spacing is obtained
0:
Distance between known each fixed point and each tracking range light, judge dolly whether arrive certain fixed point or arrival direction by change place;
6) when arriving described fixed position, robot starts to patrol and examine operation, repetition step 3,4,5,6,7 after completing;
7) when change place of dolly arrival direction, robot car original place rotates, and finds next tracking range light, repeats step 2,3,4,5,6,7,8,9, moves, dolly return to origin until complete all tracks.
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Cited By (10)
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| CN105573321A (en) * | 2016-01-05 | 2016-05-11 | 国家电网公司 | Transformer station inspection robot navigation method based on laser track |
| CN106641890A (en) * | 2017-01-24 | 2017-05-10 | 河南省中瑞机器人科技有限公司 | Production workshop using walking robot |
| CN106991909A (en) * | 2017-05-25 | 2017-07-28 | 锥能机器人（上海）有限公司 | One kind is used for sterically defined land marking |
| CN107315408A (en) * | 2016-04-26 | 2017-11-03 | 澧达科技股份有限公司 | Monitoring communication system and method for operating a monitoring communication system |
| CN108897345A (en) * | 2018-07-18 | 2018-11-27 | 北京小马智行科技有限公司 | A kind of method and system of control unmanned vehicle camera rotation |
| CN110091334A (en) * | 2019-05-31 | 2019-08-06 | 深圳市盛矽电子科技有限公司 | Tracking robot, tracking travel control method, system and medium |
| CN111136655A (en) * | 2019-12-10 | 2020-05-12 | 深圳市优必选科技股份有限公司 | Method and device for acquiring inspection point |
| CN111179352A (en) * | 2019-09-09 | 2020-05-19 | 浙江国自机器人技术有限公司 | Isomorphic positioning method for working point positions of inspection robot |
| CN112013835A (en) * | 2020-09-21 | 2020-12-01 | 珠海格力智能装备有限公司 | Map device, navigation vehicle, server, storage medium, navigation system, and navigation method |
| CN112364684A (en) * | 2020-09-23 | 2021-02-12 | 国网天津市电力公司电力科学研究院 | Machine room server state acquisition and three-dimensional management and control system and method |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573321A (en) * | 2016-01-05 | 2016-05-11 | 国家电网公司 | Transformer station inspection robot navigation method based on laser track |
| CN105573321B (en) * | 2016-01-05 | 2018-05-01 | 国家电网公司 | A kind of Intelligent Mobile Robot air navigation aid based on laser rail |
| CN107315408A (en) * | 2016-04-26 | 2017-11-03 | 澧达科技股份有限公司 | Monitoring communication system and method for operating a monitoring communication system |
| CN106641890A (en) * | 2017-01-24 | 2017-05-10 | 河南省中瑞机器人科技有限公司 | Production workshop using walking robot |
| CN106991909A (en) * | 2017-05-25 | 2017-07-28 | 锥能机器人（上海）有限公司 | One kind is used for sterically defined land marking |
| CN108897345A (en) * | 2018-07-18 | 2018-11-27 | 北京小马智行科技有限公司 | A kind of method and system of control unmanned vehicle camera rotation |
| CN110091334A (en) * | 2019-05-31 | 2019-08-06 | 深圳市盛矽电子科技有限公司 | Tracking robot, tracking travel control method, system and medium |
| CN111179352A (en) * | 2019-09-09 | 2020-05-19 | 浙江国自机器人技术有限公司 | Isomorphic positioning method for working point positions of inspection robot |
| CN111179352B (en) * | 2019-09-09 | 2023-06-16 | 浙江国自机器人技术有限公司 | Isomorphic positioning method for working points of inspection robot |
| CN111136655A (en) * | 2019-12-10 | 2020-05-12 | 深圳市优必选科技股份有限公司 | Method and device for acquiring inspection point |
| CN111136655B (en) * | 2019-12-10 | 2021-06-29 | 深圳市优必选科技股份有限公司 | Method and device for acquiring inspection point |
| CN112013835A (en) * | 2020-09-21 | 2020-12-01 | 珠海格力智能装备有限公司 | Map device, navigation vehicle, server, storage medium, navigation system, and navigation method |
| CN112013835B (en) * | 2020-09-21 | 2022-08-26 | 珠海格力智能装备有限公司 | Map device, navigation vehicle, server, storage medium, navigation system, and navigation method |
| CN112364684A (en) * | 2020-09-23 | 2021-02-12 | 国网天津市电力公司电力科学研究院 | Machine room server state acquisition and three-dimensional management and control system and method |
| CN112364684B (en) * | 2020-09-23 | 2023-07-04 | 国网天津市电力公司电力科学研究院 | Machine room server state acquisition and three-dimensional management and control system and method thereof |
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